CN216464585U - Flexible connection self-balancing gripping device - Google Patents
Flexible connection self-balancing gripping device Download PDFInfo
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- CN216464585U CN216464585U CN202123401104.8U CN202123401104U CN216464585U CN 216464585 U CN216464585 U CN 216464585U CN 202123401104 U CN202123401104 U CN 202123401104U CN 216464585 U CN216464585 U CN 216464585U
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Abstract
The utility model discloses a flexible connection self-balancing gripping device, which is based on the existing traveling crane of a factory building and aims to solve the lifting requirement of a barrel body, and comprises a turning adjusting unit, a vertical guiding unit, a weight balancing unit, a gripping unit, a visual camera and a control system; the rotary adjusting unit comprises a first grabbing support, a first rotary driving device and a first driving motor, the first grabbing support comprises a first support and a first connecting piece, the number of the first supports is two, the two first supports are connected into a whole through the first connecting piece, and the trolley on the travelling crane can be connected with the first connecting piece through a chain and drives the first grabbing support to move along the vertical direction. The device can snatch two staving simultaneously, snatchs fast, steady, through the driving cooperation, realizes the rapid transit of staving. This application can adjust automatically to make grabbing device can keep balance, avoid the unilateral quality too big, lead to the emergence of the equipment damage condition.
Description
Technical Field
The application relates to the field of machinery, in particular to the field of conveying equipment, and specifically relates to a flexible connection self-balancing gripping device.
Background
In a certain scenario, there are two tanks. The tank body is a large cylindrical pit which extends into the ground by 6m and has the inner diameter of 10m, the whole tank body is formed by pouring concrete, and the inner wall of the tank body is an anticorrosive coating carbon steel coated surface; a cofferdam with the height of 1.2m is arranged on the ground at the upper end of the tank body. The top of the factory building above the two tank bodies is provided with a travelling crane, the travelling crane stroke covers the whole factory building, and the load of the travelling crane is 2 t. The trolley is arranged on the travelling crane and is driven by a motor. Meanwhile, a lifting hook is arranged on the travelling crane and driven by an internal electric hoist, the lifting hook is in flexible connection with the electric hoist through a steel wire rope, and the bottom of the lifting hook is 1.8m away from the upper part of the cofferdam.
A plurality of standard steel drums are arranged in the tank body, the wall thickness of each steel drum is 0.8mm, the inner diameter of each steel drum is 560mm, the height of each steel drum is 900mm, the diameter of each drum cover is 585mm, the diameter of each drum hoop is 10mm, and the weight of each drum is 180 kg-340 kg. Each steel barrel is vertically stacked layer by layer, each layer of steel barrels are irregularly and tightly arranged, and the distance is not fixed. The field working temperature is as follows: -10 ℃ to 40 ℃, working pressure: and (4) normal pressure.
Therefore, on the basis of not changing the existing travelling crane of a factory building, a gripping apparatus needs to be designed, the gripping apparatus is connected with the lifting hook, the gripping apparatus is operated to the position above the steel drum through the travelling crane, and the gripped steel drum is taken out to the end point above the cofferdam.
Some patents have been disclosed for the grabbing of barrel-shaped articles. For example, chinese patent application CN201410470064.8 discloses a full-automatic loading method, which comprises the following steps: (1) starting the full-automatic loading; (2) after the full-automatic loading is started, when photoelectric detection informs that the barreled water is in place, the mechanical arm descends to grab the barreled water, after the barreled water is lifted to a safe height, the left-right translation dislocation positioning is carried out, then the barreled water moves forwards to a preset position, and then the barreled water is lowered to the safe height to be placed in a first row of a first layer in a carriage; (3) the mechanical arm returns to the original point again to wait for taking out the next row of barreled water which is delivered in place, and the barreled water is placed in the first layer, the second layer, the first layer and the third layer in the carriage in a staggered mode through similar working steps, so that the first-step loading work is completed; (4) and then the telescopic arm retreats by one station and then loads the first layer, the third layer, the second layer and the third layer, the second step of loading is completed, then the telescopic arm retreats by one station to load, the telescopic arm retreats by one station every time the telescopic arm is loaded, the telescopic arm continues loading, and the like, the telescopic arm retreats and loads the vehicle until the loading of the carriage is finished.
Chinese patent application CN201820870245.3 discloses a storage device is snatched in full-automatic of pail pack, and it can snatch subaerial pail pack, then carries out position control to the pail pack after snatching, makes it conveniently put into the containing box and collects to can snatch a plurality of or pail packs of different diameters, effectual, efficient.
Chinese patent application CN201922113282.7 discloses a bucket lifting device with high safety, which comprises a bracket; the clamping mechanism is arranged on the bracket; a pillar with one end connected right above the clamping mechanism and the other end provided with a hanging ring; the rotating seat is sleeved on the supporting column and is connected with a rotating mechanism for driving the rotating seat to rotate relative to the supporting column; one end of the balance mechanism is fixed on the side wall of the rotating seat close to the pillar, the other end of the balance mechanism is freely telescopic and used for adjusting the gravity center of the bucket lifting device, and the balance mechanism and the rotating mechanism are respectively positioned on two sides of the pillar; and the horizontal detector is arranged on the bracket.
Chinese patent application CN201720102887.4 discloses a drum palletizing robot, which comprises a base, a power device fixed on the base, a swing arm assembly driven by the power device, an executing device arranged at the front end of the swing arm assembly, and a balancing component for keeping the executing device balanced, wherein the executing device comprises a grabbing frame, a clamping component a fixed on the left side of the grabbing frame, and a clamping component B fixed on the right side of the grabbing frame; the clamping and pressing assembly A comprises a driving rod A extending from the left end to the right end of the grabbing frame, an air cylinder A fixedly arranged at the left end of the grabbing frame and driving the driving rod A to stretch left and right, and a plurality of clamping plates A fixedly arranged on the driving rod A at intervals; the clamping and pressing assembly B comprises a driving rod B extending from the right end to the left end of the grabbing frame, a cylinder B fixedly arranged at the right end of the grabbing frame and driving the driving rod B to stretch left and right, and a plurality of clamping plates B fixedly arranged on the driving rod B at intervals; splint A and splint B alternate the setting, and splint A and splint B that adjacent set up form a set of centre gripping unit.
However, none of the above conventional devices can satisfy the requirements of the application in the scene. Therefore, a new device is urgently needed to solve the above problems.
SUMMERY OF THE UTILITY MODEL
This application uses the current driving of factory building as the basis, to the hoist and mount demand of staving, provides a flexonics self-balancing grabbing device. The device can snatch two staving simultaneously, snatchs fast, steady, through the driving cooperation, realizes the rapid transit of staving. Require two staving position relatively fixed different with current grabbing device, this application can carry out automatic adjustment according to the position of waiting to snatch two staving, has better self-adaptation ability. When two staving weights of snatching are different, this application can adjust automatically to make grabbing device can keep balance, avoid the unilateral quality too big, lead to the emergence of the equipment damage condition. The method and the device have the advantages of ingenious design, reasonable design, high operating efficiency, strong self-adaptive capacity, high application value and good application prospect.
In order to achieve the purpose, the following technical scheme is adopted in the application:
the flexible connection self-balancing gripping device comprises a rotation direction adjusting unit, a vertical guide unit, a weight balancing unit, a gripping unit, a visual camera and a control system, wherein the vertical guide unit is used for being matched with a trolley on a travelling crane;
the turning adjusting unit comprises a first grabbing bracket, a first rotary driving device and a first driving motor, the first grabbing bracket comprises a first support and a first connecting piece, the first support is matched with the vertical guiding unit, the number of the first support is two, the two first supports are connected into a whole through the first connecting piece, and the trolley on the travelling crane can be connected with the first connecting piece through a chain and drives the first grabbing bracket to move in the vertical direction;
the vertical guide units are telescopic sleeves, the number of the telescopic sleeves is two, one end of each telescopic sleeve is connected with a trolley on the travelling crane, the other end of each telescopic sleeve is connected with the first support, and the two telescopic sleeves can play a supporting role and prevent the first grabbing support from rotating;
the first rotary driving device is connected with the lower end of the first grabbing bracket, the first grabbing bracket can provide support for the first rotary driving device, the first driving motor is connected with the first rotary driving device, and the first driving motor can provide power for the first rotary driving device to rotate;
the weight balance unit comprises a second grabbing bracket, a lead screw guide module and a second driving motor, the second grabbing bracket comprises a second support and a second rotating connecting piece, the number of the second support is two, the two second support are connected into a whole through the second connecting piece, the output end of the first rotary driving device is connected with the second grabbing bracket, and the first driving motor can drive the second grabbing bracket to rotate relative to the first grabbing bracket through the first rotary driving device;
the screw guide modules are two groups, each screw guide module comprises a second screw base, a second slide rail, a second slide block arranged on the second slide rail, a second driving screw and a second screw nut, and the second slide rails are one group and are arranged in parallel;
the second screw base is arranged at the lower end of the second support, the second support can provide support for the screw guide module, the second slide rail is connected with the second screw base, the second screw base can provide support for the second slide rail, the second driving screw is arranged on the second screw base, the second driving screw can rotate relative to the second screw base, the second screw nut is arranged on the second driving screw, the second screw nut is connected with the second sliding block, and the second sliding block can guide the second screw nut;
the second driving motor is connected with the second driving lead screw and can drive the second lead screw nut to move along the axial direction of the second driving lead screw;
the grabbing unit comprises a third rotary driving device, a third driving motor, a three-jaw chuck and a chuck driving motor, wherein the three-jaw chuck is used for being matched with the barrel body to be grabbed;
the output end of the third rotary driving device is connected with the three-jaw chuck and the third rotary driving device can drive the three-jaw chuck to rotate;
the three-jaw chuck comprises a chuck body, a large bevel gear, a small bevel gear and three jaws, wherein the large bevel gear is arranged on the chuck body, the jaws are matched with the large bevel gear, and the small bevel gear is meshed with the large bevel gear;
an output shaft of the chuck driving motor is connected with a small bevel gear of the three-jaw chuck, and the chuck driving motor can drive the jaws to move along the radial direction of the three-jaw chuck sequentially through the small bevel gear and the large bevel gear so as to realize the opening and the contraction of the jaws;
the vision camera is connected with the second grabbing bracket, and the second grabbing bracket can provide support for the vision camera;
the first driving motor, the second driving motor, the third driving motor, the chuck driving motor and the vision camera are respectively connected with the control system.
One end of the telescopic sleeve is connected with a trolley on the travelling crane through a flange plate, and the other end of the telescopic sleeve is connected with the first grabbing support through the flange plate.
The telescopic sleeves are arranged in parallel along the vertical direction.
And the first driving motor, the second driving motor, the third driving motor and the chuck driving motor are respectively selected from a brush speed reducing motor.
The number of the second sliding rails is two.
The jack catch is the L type.
The grabbing unit further comprises a weight measuring device, the weight measuring device is connected with the three-jaw chuck and can measure the mass of the barrel body grabbed by the three-jaw chuck, the weight measuring device is connected with the control system and can transmit measured mass data to the control system.
A self-balancing grabbing method for flexible connection comprises the following steps:
(1) after the trolley on the travelling crane drives the flexible connection self-balancing gripping device to move above the two barrels to be gripped through the chain, the trolley on the travelling crane drives the flexible connection self-balancing gripping device to move downwards through the chain until the trolley reaches the position near the two barrels to be gripped; in the process, image information is acquired through the visual camera and transmitted to the control system, and the position of the barrel body is determined based on the acquired image information;
(2) the relative positions of the two barrels to be grabbed are collected through the visual camera and transmitted to the control system; the control system starts a first driving motor, the first driving motor drives a second grabbing bracket to rotate through a first rotary driving device, and the second grabbing bracket is stopped above the two barrel bodies; when the second grabbing bracket stays above the two barrel bodies, the control system enables the first driving motor to stop working;
(3) the control system starts a second driving motor, the second driving motor drives a third rotary driving device connected with a second lead screw nut to move along the axial direction of a second driving lead screw through the second driving lead screw, and the third rotary driving device is correspondingly positioned above the barrel body; when the third rotary driving device is correspondingly positioned above the barrel body, the control system enables the second driving motor to stop working;
(4) gaps between the two barrel bodies to be grabbed and other surrounding objects are collected through the visual camera and transmitted to the control system; the control system starts a third driving motor, and the third driving motor drives the three-jaw chuck to rotate through a third rotary driving device, so that the jaws of the three-jaw chuck can be correspondingly positioned in the gaps around the barrel body;
(5) the control system starts a chuck driving motor, and the chuck driving motor drives a bevel pinion of the three-jaw chuck to rotate and opens the jaws of the three-jaw chuck; after the jaws are opened, the control system enables the chuck driving motor to stop working; at the moment, the chain drives the flexible connection self-balancing grabbing device to further move downwards to a set position; then, the control system starts a chuck driving motor, and the chuck driving motor drives a bevel pinion of the three-jaw chuck to rotate reversely, so that the jaws of the three-jaw chuck are contracted; after the clamping jaw finishes the clamping operation on the barrel body, the control system enables the chuck driving motor to stop working;
(6) then, the chain drives the flexible connection self-balancing grabbing device to lift upwards; meanwhile, the weight measuring device transmits the mass data of the barrel body to the control system; the control system sends an instruction to the second driving motor according to the mass difference of the two side barrel bodies, and adjusts the relative positions of the third rotary driving device and the second driving lead screw so that the gravity centers of the two side barrel bodies are superposed with the gravity center of the flexibly connected self-balancing gripping device;
(7) when the barrel body rises to a set position, the travelling crane drives the flexibly connected self-balancing gripping device and the barrel body gripped by the flexibly connected self-balancing gripping device to move to the set position, the control system starts a chuck driving motor, and the chuck driving motor drives a bevel pinion of the three-jaw chuck to rotate and opens the jaws of the three-jaw chuck; after the jaws are opened, the control system enables the chuck driving motor to stop working, and single grabbing operation is completed;
(8) repeating the steps (1) to (7), and performing barrel body grabbing operation for multiple times;
or comprises the following steps:
(a) after the trolley on the travelling crane drives the flexible connection self-balancing gripping device to move above the two barrels to be gripped through the chain, the trolley on the travelling crane drives the flexible connection self-balancing gripping device to move downwards through the chain until the trolley reaches the position near the two barrels to be gripped; in the process, image information is acquired through the visual camera and transmitted to the control system, and the position of the barrel body is determined based on the acquired image information;
(b) the relative positions of the two barrel bodies to be grabbed are collected through the visual camera and transmitted to the control system; the control system starts a first driving motor, the first driving motor drives a second grabbing bracket to rotate through a first rotary driving device, a second support of the second grabbing bracket is stopped above a first barrel body, the barrel body is marked as a first barrel body, and then the control system enables the first driving motor to stop working;
(c) the control system starts a second driving motor, the second driving motor drives a third rotary driving device connected with a second lead screw nut to move along the axial direction of a second driving lead screw through the second driving lead screw, and the third rotary driving device is correspondingly positioned above the first barrel body; when the third rotary driving device is correspondingly positioned above the first barrel body, the control system enables the second driving motor to stop working;
(d) gaps between a first barrel to be grabbed and other surrounding objects are collected through a visual camera and transmitted to a control system; the control system starts a third driving motor, and the third driving motor drives the three-jaw chuck to rotate through a third rotary driving device, so that the jaws of the three-jaw chuck can be correspondingly positioned in the gaps around the first barrel;
(e) the control system starts a chuck driving motor, and the chuck driving motor drives a bevel pinion of the three-jaw chuck to rotate and opens the jaws of the three-jaw chuck; after the jaws are opened, the control system enables the chuck driving motor to stop working; at the moment, the chain drives the flexible connection self-balancing grabbing device to further move downwards to a set position; then, the control system starts a chuck driving motor, and the chuck driving motor drives a bevel pinion of the three-jaw chuck to rotate reversely, so that the jaws of the three-jaw chuck are contracted; after the clamping jaw finishes the clamping operation on the first barrel body, the control system enables the chuck driving motor to stop working;
(f) the relative position of a second barrel body to be grabbed is collected through the visual camera and transmitted to the control system; the control system starts a first driving motor, the first driving motor drives a second grabbing bracket to rotate through a first rotary driving device, another second support on the second grabbing bracket is stopped above a second barrel body, and the first driving motor stops working through the rear control system;
(g) the control system starts a second driving motor, the second driving motor drives a third rotary driving device connected with a second lead screw nut to move along the axial direction of a second driving lead screw through the second driving lead screw, and the third rotary driving device is correspondingly positioned above a second barrel body; when the third rotary driving device is correspondingly positioned above the second barrel body, the control system enables the second driving motor to stop working;
(h) gaps between the second barrel body to be grabbed and other surrounding objects are collected through the visual camera and transmitted to the control system; the control system starts a third driving motor, and the third driving motor drives the three-jaw chuck to rotate through a third rotary driving device, so that the jaws of the three-jaw chuck can be correspondingly positioned in the gaps around the second barrel body;
(i) the control system starts a chuck driving motor, and the chuck driving motor drives a bevel pinion of the three-jaw chuck to rotate and opens the jaws of the three-jaw chuck; after the jaws are opened, the control system enables the chuck driving motor to stop working; then, the control system starts a chuck driving motor, and the chuck driving motor drives a bevel pinion of the three-jaw chuck to rotate reversely, so that the jaws of the three-jaw chuck are contracted; after the clamping jaw finishes the clamping operation on the second barrel body, the control system enables the chuck driving motor to stop working;
(j) then, the chain drives the flexible connection self-balancing gripping device to lift upwards; meanwhile, the weight measuring device transmits the mass data of the barrel body to the control system; the control system sends an instruction to the second driving motor according to the mass difference of the two side barrel bodies, and adjusts the relative positions of the third rotary driving device and the second driving lead screw so that the gravity centers of the two side barrel bodies are superposed with the gravity center of the flexibly connected self-balancing gripping device;
(k) when the barrel body rises to a set position, the travelling crane drives the flexible connection self-balancing gripping device and the barrel body gripped by the flexible connection self-balancing gripping device to move to the set position, the control system starts a chuck driving motor, the chuck driving motor drives a bevel pinion of the three-jaw chuck to rotate, and the jaws of the three-jaw chuck are opened; after the jaws are opened, the control system enables the chuck driving motor to stop working, and single grabbing operation is completed;
(l) And (d) repeating the steps (a) to (k) and carrying out barrel body grabbing operation for multiple times.
To sum up, the application provides a flexonics self-balancing grabbing device, it includes to the adjusting element soon, be used for with the driving on dolly matched with vertical guide unit, weight balance unit, grab unit, vision camera, control system. An operator can judge the relative positions of the two bucket bodies to be grabbed by using the information acquired by the visual camera; the relative positions of the two to-be-grabbed barrel bodies can be automatically judged through a visual identification system; then, carry out the direction regulation and control through revolving to the regulating element, carry out the position regulation and control through the weight balance unit, through snatching the unit and revolve to the regulation and control and to snatching of staving, rethread weight balance unit carries out the weight adaptation, realizes the controlled regulation of gravity deviation, and then accomplishes final twin-tub body and high-efficiently snatch.
Drawings
The present application will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a front view of a flexible connection self-balancing gripping device in embodiment 1.
Fig. 2 is a perspective view of fig. 1.
Fig. 3 is a schematic structural view of the combination of the rotation direction adjusting unit, the weight balancing unit and the grabbing unit in fig. 1.
Fig. 4 is a perspective view of fig. 3.
The labels in the figure are: 1. the device comprises a first rotary driving device, 2, a first driving motor, 3, a first support, 4, a first connecting piece, 5, a telescopic sleeve, 21, a second support, 22, a second rotary connecting piece, 23, a screw guide module, 24, a second driving motor, 31, a third rotary driving device, 32, a third driving motor, 33 and a three-jaw chuck.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification may be replaced by alternative features serving an equivalent or similar purpose, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Example 1
As shown in the figures, the present embodiment provides a flexible connection self-balancing gripping device, which includes a turning direction adjusting unit, a vertical guiding unit for matching with a trolley on a traveling crane, a weight balancing unit, a gripping unit, a visual camera, a weight measuring device, and a control system.
In this embodiment, the rotation direction adjusting unit includes a first grabbing bracket, a first rotation driving device, and a first driving motor. The first grabbing support comprises two first supports and two first connecting pieces, wherein the first supports are matched with the vertical guide units, and the two first supports are connected into a whole through the first connecting pieces. The vertical guide unit is a telescopic sleeve, and the number of the telescopic sleeves is two. One end of the telescopic sleeve is connected with a trolley on the travelling crane, and the other end of the telescopic sleeve is connected with the first support.
By adopting the structure, the trolley on the travelling crane passes through the chain, the hook arranged on the chain and the first connecting piece, and then the first grabbing support can be driven to move along the vertical direction. Simultaneously, two telescopic sleeves can play vertical support effect to prevent that first snatching the support and take place to rotate. One end of the telescopic sleeve is connected with a trolley on the travelling crane through a flange plate, and the other end of the telescopic sleeve is connected with the first grabbing support through the flange plate.
The first rotary driving device is connected with the lower end of the first grabbing support, and the first driving motor is connected with the first rotary driving device. In this structure, first snatch the support and be used for providing the support for first rotary drive device, first driving motor is used for providing power for first rotary drive device rotates.
The weight balance unit comprises a second grabbing bracket, a lead screw guide module and a second driving motor. The second snatchs the support and includes second support, second rotation connecting piece, and the second support is two, and two link to each other as an organic whole through the second connecting piece. The output end of the first rotary driving device is connected with the second grabbing support, and the first driving motor can drive the second grabbing support to rotate relative to the first grabbing support through the first rotary driving device.
In this embodiment, the lead screw direction module is two sets of, and the corresponding setting is on two second supports. The screw guide module comprises a second screw base, a second slide rail, a second slide block, a second driving screw and a second screw nut, wherein the second slide rail is arranged on the second slide rail, and the second slide rail is a group and is parallel to the second slide rail. The second lead screw base is arranged at the lower end of the second support, the second slide rail is connected with the second lead screw base, and the second lead screw base can provide support for the second slide rail; the second driving lead screw is arranged on the second lead screw base and can rotate relative to the second lead screw base; the second screw nut is arranged on the second driving screw; the second lead screw nut is connected with the second sliding block, and the second sliding block can play a role in guiding the second lead screw nut. The second driving motor is connected with the second driving lead screw and can drive the second lead screw nut to move along the axial direction of the second driving lead screw.
In this embodiment, the grabbing unit comprises a third rotary driving device, a third driving motor, a three-jaw chuck and a chuck driving motor, wherein the three-jaw chuck and the chuck driving motor are used for being matched with the barrel body to be grabbed. The third rotary driving device is connected with the second sliding block, the third driving motor is connected with the third rotary driving device, and the output end of the third rotary driving device is connected with the three-jaw chuck.
The three-jaw chuck comprises a chuck body, three large bevel gears, three small bevel gears and three clamping jaws, wherein the large bevel gears are arranged on the chuck body, the clamping jaws are matched with the large bevel gears, the small bevel gears are meshed with the large bevel gears, and an output shaft of a chuck driving motor is connected with the small bevel gears of the three-jaw chuck.
By adopting the structure, the second slide block can drive the third rotary driving device to move, the third driving motor can provide power for the third rotary driving device, and the third rotary driving device can drive the three-jaw chuck to rotate. An output shaft of the chuck driving motor is connected with a small bevel gear of the three-jaw chuck, the small bevel gear drives the large bevel gear to rotate, and the large bevel gear drives the chuck jaws to stretch out and draw back, so that grabbing operation is realized. In the structure, the chuck driving motor can drive the clamping jaws to move along the radial direction of the three-jaw chuck sequentially through the small bevel gear and the large bevel gear so as to realize the expansion and contraction of the clamping jaws. The weight measuring device is connected with the three-jaw chuck, can measure the mass of the barrel body grabbed by the three-jaw chuck and transmits the measured mass data to the control system.
Simultaneously, the vision camera is connected with the second grabbing bracket, and the vision camera provides support through the second grabbing bracket. The first driving motor, the second driving motor, the third driving motor, the chuck driving motor, the visual camera and the weight measuring device are respectively connected with the control system. Preferably, the first drive motor, the second drive motor, the third drive motor and the chuck drive motor are brush speed reduction motors respectively; the jack catch is the L type, and it suits with the staving outer fringe, can realize getting of staving and put the operation.
In a specific example, the parameters of the hoisting object are as follows: the mass of each barrel body is 300 kg-400 kg, and each barrel body is stacked in disorder. Hoisting requirements are as follows: 1) grabbing capacity: one barrel body at a time, and the retrieval time is within 8 minutes; 2) working temperature: -10 ℃ to 40 ℃; 3) working pressure: normal pressure; 4) the field environment is as follows: other equipment (cranes) on site are not modified; 5) the gripping apparatus is safe and controllable, and can be prevented from falling.
The telescopic sleeve is made of stainless steel and is anticorrosive; the diameter of the material is less than 200 mm; the connection is realized by adopting flange bolts. One end of the telescopic sleeve is connected with a trolley on the travelling crane through a flange plate, and the other end of the telescopic sleeve is connected with the first grabbing support through the flange plate. The transmission of the force between the trolley and the flexible connection self-balancing gripping device on the travelling crane is provided by the hook on the chain and the first connecting piece, the telescopic sleeve does not provide any power and only plays a supporting role, so that the flexible connection self-balancing gripping device keeps balance in the working process, and the telescopic sleeve does not need to provide great tensile capacity.
The prepared flexible connection self-balancing gripping device has the following performance parameters: 1) the load capacity of the device is more than or equal to 800 kg; 2) the steering capacity is 0-180 degrees; 3) the clamping force is more than or equal to 20000N; 4) access number: 2 barrels per time, and the access time is less than or equal to 8min per time; 5) the steel drum is stored and taken for 60 times in an accumulated way, and the device has no fault; 6) except for the vertical guide unit, the overall height dimension of the grabbing device is less than 800 mm.
The operation of bucket body grasping by the present embodiment is as follows.
(1) After the trolley on the travelling crane drives the flexible connection self-balancing gripping device to move to the position above the two to-be-gripped barrels through the chain, the trolley on the travelling crane drives the flexible connection self-balancing gripping device to move downwards through the chain until the trolley reaches the position near the two to-be-gripped barrels. In the process, image information is acquired through the visual camera and transmitted to the control system, and the position of the barrel body is determined based on the acquired image information.
(2) The relative positions of the two barrels to be grabbed are collected through the visual camera and transmitted to the control system. The control system starts the first driving motor, the first driving motor drives the second grabbing support to rotate through the first rotary driving device, and the second grabbing support stops above the two barrel bodies. When the second grabbing bracket stays above the two barrel bodies, the control system enables the first driving motor to stop working.
(3) The control system starts a second driving motor, the second driving motor drives a third rotary driving device connected with a second lead screw nut to move along the axial direction of a second driving lead screw through the second driving lead screw, and the third rotary driving device is correspondingly positioned above the barrel body. And when the third rotary driving device is correspondingly positioned above the barrel body, the control system enables the second driving motor to stop working.
(4) The visual camera is used for collecting gaps between the two barrel bodies to be grabbed and other surrounding objects and transmitting the gaps to the control system. The control system starts a third driving motor, and the third driving motor drives the three-jaw chuck to rotate through a third rotary driving device, so that the jaws of the three-jaw chuck can be correspondingly positioned in the gaps around the barrel body.
(5) The control system starts the chuck driving motor, and the chuck driving motor drives the bevel pinion of the three-jaw chuck to rotate and enables the jaws of the three-jaw chuck to open. And when the jaws are opened, the control system stops the chuck driving motor. At the moment, the chain drives the flexible connection self-balancing grabbing device to further move downwards to a set position. And then, the control system starts a chuck driving motor, and the chuck driving motor drives a bevel pinion of the three-jaw chuck to rotate reversely, so that the jaws of the three-jaw chuck are contracted. And after the clamping jaw finishes the clamping operation on the barrel body, the control system stops the chuck driving motor.
(6) Then, the chain drives the flexible connection self-balancing grabbing device to lift upwards. Meanwhile, the weight measuring device transmits the mass data of the barrel body to the control system. And the control system sends an instruction to the second driving motor according to the mass difference of the two side barrel bodies, and adjusts the relative positions of the third rotary driving device and the second driving lead screw so that the gravity centers of the two side barrel bodies coincide with the gravity center of the flexible connection self-balancing grabbing device.
(7) When the barrel body rises to a set position, the travelling crane drives the flexible connection self-balancing gripping device and the barrel body gripped by the flexible connection self-balancing gripping device to move to the set position, the control system starts the chuck driving motor, the chuck driving motor drives the bevel pinion of the three-jaw chuck to rotate, and the clamping jaws of the three-jaw chuck are opened. And after the jaws are opened, the control system stops the chuck driving motor to complete single grabbing operation.
(8) And (5) repeating the steps (1) to (7) and carrying out barrel body grabbing operation for multiple times.
This application adopts rotary drive to realize access arrangement's rotation, and lead screw direction module realizes that two buckets grab the position control, and the position and the vacant position of staving are judged to the vision camera, and third rotary driving device mainly adjusts the vacant position between a plurality of staving, and the jack catch of guaranteeing the three-jaw chuck can effectually grab bucket along the bulge to can guarantee the stability of snatching at every turn.
The present application is not limited to the foregoing embodiments. The application extends to any novel feature or any novel combination of features disclosed in this specification and to any novel method or process steps or any novel combination of features disclosed.
Claims (7)
1. The flexible connection self-balancing gripping device is characterized by comprising a rotation direction adjusting unit, a vertical guide unit, a weight balancing unit, a gripping unit, a visual camera and a control system, wherein the vertical guide unit is used for being matched with a trolley on a travelling crane;
the turning adjusting unit comprises a first grabbing bracket, a first rotary driving device and a first driving motor, the first grabbing bracket comprises a first support and a first connecting piece, the first support is matched with the vertical guiding unit, the number of the first support is two, the two first supports are connected into a whole through the first connecting piece, and the trolley on the travelling crane can be connected with the first connecting piece through a chain and drives the first grabbing bracket to move in the vertical direction;
the vertical guide units are telescopic sleeves, the number of the telescopic sleeves is two, one end of each telescopic sleeve is connected with a trolley on the travelling crane, the other end of each telescopic sleeve is connected with the first support, and the two telescopic sleeves can play a supporting role and prevent the first grabbing support from rotating;
the first rotary driving device is connected with the lower end of the first grabbing bracket, the first grabbing bracket can provide support for the first rotary driving device, the first driving motor is connected with the first rotary driving device, and the first driving motor can provide power for the first rotary driving device to rotate;
the weight balance unit comprises a second grabbing bracket, a lead screw guide module and a second driving motor, the second grabbing bracket comprises a second support and a second rotating connecting piece, the number of the second support is two, the two second support are connected into a whole through the second connecting piece, the output end of the first rotary driving device is connected with the second grabbing bracket, and the first driving motor can drive the second grabbing bracket to rotate relative to the first grabbing bracket through the first rotary driving device;
the screw guide modules are two groups, each screw guide module comprises a second screw base, a second slide rail, a second slide block arranged on the second slide rail, a second driving screw and a second screw nut, and the second slide rails are one group and are arranged in parallel;
the second screw base is arranged at the lower end of the second support, the second support can provide support for the screw guide module, the second slide rail is connected with the second screw base, the second screw base can provide support for the second slide rail, the second driving screw is arranged on the second screw base, the second driving screw can rotate relative to the second screw base, the second screw nut is arranged on the second driving screw, the second screw nut is connected with the second sliding block, and the second sliding block can guide the second screw nut;
the second driving motor is connected with the second driving lead screw and can drive the second lead screw nut to move along the axial direction of the second driving lead screw;
the grabbing unit comprises a third rotary driving device, a third driving motor, a three-jaw chuck and a chuck driving motor, wherein the three-jaw chuck is used for being matched with the barrel body to be grabbed;
the output end of the third rotary driving device is connected with the three-jaw chuck and the third rotary driving device can drive the three-jaw chuck to rotate;
the three-jaw chuck comprises a chuck body, a large bevel gear, a small bevel gear and three jaws, wherein the large bevel gear is arranged on the chuck body, the jaws are matched with the large bevel gear, and the small bevel gear is meshed with the large bevel gear;
an output shaft of the chuck driving motor is connected with a small bevel gear of the three-jaw chuck, and the chuck driving motor can drive the jaws to move along the radial direction of the three-jaw chuck sequentially through the small bevel gear and the large bevel gear so as to realize the opening and the contraction of the jaws;
the vision camera is connected with the second grabbing bracket, and the second grabbing bracket can provide support for the vision camera;
the first driving motor, the second driving motor, the third driving motor, the chuck driving motor and the visual camera are respectively connected with the control system.
2. The flexible connection self-balancing gripping device of claim 1, wherein one end of the telescopic sleeve is connected with a trolley on a travelling crane through a flange, and the other end of the telescopic sleeve is connected with the first gripping bracket through a flange.
3. The flexibly connected self-balancing gripping device of claim 2, wherein the telescoping sleeves are vertically disposed parallel to each other.
4. The flexibly connected self-balancing gripping device of claim 1, wherein the first, second, third and chuck driving motors are brush reduction motors.
5. The flexibly connected self-balancing gripping device of claim 1, wherein the number of the second slide rails is two.
6. The flexible connection self-balancing gripping device of claim 1, wherein the jaws are L-shaped.
7. The flexibly connected self-balancing gripping device according to any one of claims 1 to 6, wherein the gripping unit further comprises a weight measuring device, the weight measuring device is connected with the three-jaw chuck and can measure the mass of the barrel body gripped by the three-jaw chuck, the weight measuring device is connected with the control system and can transmit measured mass data to the control system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202123401104.8U CN216464585U (en) | 2021-12-31 | 2021-12-31 | Flexible connection self-balancing gripping device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123401104.8U CN216464585U (en) | 2021-12-31 | 2021-12-31 | Flexible connection self-balancing gripping device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800587A (en) * | 2022-05-18 | 2022-07-29 | 太原福莱瑞达物流设备科技有限公司 | Multi-station barrel material clamping jaw based on frame installation |
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2021
- 2021-12-31 CN CN202123401104.8U patent/CN216464585U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800587A (en) * | 2022-05-18 | 2022-07-29 | 太原福莱瑞达物流设备科技有限公司 | Multi-station barrel material clamping jaw based on frame installation |
| CN114800587B (en) * | 2022-05-18 | 2024-01-19 | 太原福莱瑞达物流设备科技有限公司 | Multi-station barrel material clamping claw based on frame installation |
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